Guided imaging system

ABSTRACT

Apparatus for wirelessly controlling a guided imaging system based upon the relative motion of the user. The system includes a power supply, a memory, an x-ray source, an image intensifier and a wireless transceiver coupled to the image intensifier. A separate wireless input device comprising a wireless transmitter for communicating with the wireless transceiver of the imaging system may comprise one or more sensors capable of detecting force and directional movement. This detection of movement may then be transmitted to the imaging system and translated into position signals that may direct movement and position of the image intensifier (I-I) as part of the imaging system.

TECHNICAL FIELD

The present invention generally relates to medical imaging devices, moreparticularly, to devices for the wireless controlled movement of medicalimaging equipment.

BACKGROUND OF THE INVENTION

Most interventional imaging systems use an X-ray source connected to animage intensifier (I-I) which can be utilized before, during and after aprocedure. As in other medical procedures, the operator may be anassistant to the medical practitioner guided under the practitioner'sdirections. Typically, this requires either the operator or an assistantto physically move or adjust the imaging system using a joystick (orother manual mechanism requiring hands on) on an examination table. Themedical practitioner may prefer the benefit of both controlling such animaging system while performing the procedure. In order to operate suchimaging systems, the unit is moved in various directions using hand heldcontrols on the operating table. Movement of this device is necessary toobtain desired views of the object/patient being studied.

Potential problems with this approach include the operator having totake his hands off of the procedure to adjust the imaging, which canlead to complications of a medical error or increased time to performthe procedure. In another example, an assistant may have otherresponsibilities during the procedure such that repositioning the cameramay introduce positional error and, similarly, prevents the assistantfrom concentrating on another related task. There are instances whenconsiderable movement occurs during a critical part of the procedure,thus adding to complexity and risk of a medical error or injury to thesubject.

Current operation of such imaging systems have progressed over the yearsto allow not only improved optical resolution and subminiature size butalso improved responsiveness through the use of various user interfaceoptions such as handheld controls, joystick, mouse, or touch screen.These advances, though furthering the capacity and utility of thistechnology, still leave room for improvement by still sharing the commonrequirement to utilize the hands of the person controlling the system.This presents complications when the medical practitioner needs use ofthe hands for other related tasks. Therefore, as medical procedures getincreasing complex there is a need for a device that can help solve orreduce the need for medical personnel to correct imaging apparatus ortake away the medical personnel from the surgical treatment at hand.

In light of the foregoing considerations, and relative to the presentstate of the art, the need for hands-free control or guidance of I-Iimaging systems remains to be sufficiently addressed. Furthermore, itremains desirable and advantageous to more efficiently maneuver suchimaging systems without taking attention from other related tasks so asto create an error or risk to the subject. Finally, having a hands-freesolution that can track a medical practitioner's movements, without theneed for third party interaction satisfies the operators visualizationrequirement without having to interrupt the procedure.

SUMMARY OF THE INVENTION

It is therefore an object of the present invention to provide a wirelesscontrol device that will enable the user to guide the position of an I-Iimaging system without the use of the user's hands. It is a furtherobject of the present invention to a provide a highly responsivewireless control that may enable the user to multitask by performing anindependent task with the hands while simultaneously guiding the imagingsystem. In one embodiment of the present invention, the wireless controlmechanism that controls the guided imaging system may be mounted on thebody of the user. In one embodiment of the present invention, thewireless control mechanism that controls the guided imaging system maybe mounted on the head or upon a headpiece of the user. In a furtherembodiment of the present invention, the wireless control mechanism thatcontrols the guided imaging system may include a voice activated controlsystem for enabling the user to use voice commands to activate andoperate the guided imaging system. The voice activated control systemmay comprise an audio microphone configured to receive audio or voiceinput commands or signals from the user, an audio receiving unit forreceiving the audio or voice input commands or signals, and an audio orvoice signal processor coupled to the audio receiving unit forprocessing the audio or voice input commands or signals. In oneembodiment of the present invention, the guided imaging system may beused in a sterile environment. In a further embodiment of the presentinvention, the guided imaging system may be used in a healthcarefacility.

In yet another embodiment of the present invention, the guided imagingsystem may respond similarly to that of the Nintendo Wii® controller. Inone embodiment of the present invention the wireless controller may becapable of responding to direction in one or more of the followinglinear directions: horizontal (X), vertical (Y) and depth (Z) directionsand communicate these directions to the I-I. In one embodiment of thepresent invention the I-I may be capable of responding to direction inone or more of the following rotational directions: pitch (rotationabout the vertical axis), roll (rotation about the horizontal axis), andyaw (rotation about the depth axis). In a further embodiment of thepresent invention, the speed of movement of the user may be translatedinto the speed at which the guided imaging system, (I-I) movement,responds. The speed of movement may further accompany one of the lineardirections or one or more of the rotational directions.

In another embodiment of the present invention the imaging monitors maybe capable of responding to direction independently or in concert withthe movement of the I-I, as shown in FIG. 3.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, aspects and advantages will be betterunderstood from the following detailed description of preferredembodiments of the invention with reference to the drawings. In thedrawings, like reference characters generally refer to the same partsthroughout the different views. Also, the drawings are not necessarilyto scale, emphasis instead generally being placed upon illustrating theprincipals, elements and inter-relationships of the invention.

FIG. 1 is a drawing of a C-arm imaging system having an imageintensifier and controllers to position both the imager and tableholding the object under observation.

FIG. 2 is a drawing of an image system having an image sensor inmultiple positions relative to the x-ray source that can include singleor multiple image arrays.

FIG. 3 is a drawing of an image system mountable from a wall or ceilingthat incorporates monitors and having a swivel adjustable sensor.

FIG. 4 is a drawing of an image system having an image sensor mountableon an examination table.

FIG. 5 is a drawing of a headband mountable device having a wirelesstransmitter and sensors built therein.

FIG. 6 is a drawing of a wireless controller for an image system that isattachable to eyewear of the user.

FIG. 7 is a drawing of a wireless controller for an image system that isbuilt into eyewear.

FIG. 8 is a drawing of a wireless controller for an image system that isbuilt into gloves.

FIG. 9 is a drawing of a voice activating system.

DETAILED DESCRIPTION

FIG. 1 illustrates two configurations of an interventional guidedimaging system 100, according to one embodiment of the presentinvention, having an x-ray source 101 opposite an image intensifier(I-I) 120. Imaging systems of this type may be moved in variousdirections using handheld controls on or near an examination table.Movement of the imager is necessary to obtain desired views of theobject/patient under examination without the need to moveobject/patient. Typically, the user or an assistant will physicallyreposition the camera and monitors using a joystick control on theexamination table. This occurs during a medical procedure, which candistract the operator from the procedure and present complications forthe patient. In FIG. 2, the sensor of the image intensifier is locatedabove a flat plane. This may include either a single or a multiple array(bi-plane) configuration.

Referring further to FIG. 1, which illustrates one embodiment ofconstruction of a single plane type x-ray interventional guided imagingsystem 100 in accordance with the present invention. The x-rayinterventional guided imaging system 100 includes an x-ray source 101for irradiating x-rays onto an object P and an x-ray detecting unit 102for collecting x-ray projection data by two dimensionally detectingx-rays penetrated through an object P. The x-ray source 101 and thepenetrated x-ray detecting unit 102 are respectively supported atopposed edge portions of the C-shaped support arm 132 a. The x-rayinterventional guided imaging system 100 further includes a drive unit103 for implementing rotating movements of C-shaped support arm 132 aand position movements of top plate 131 a in order to support an objectP and a high voltage generator 141. The high voltage generator 141supplies a high voltage sufficient for production of x-rays andirradiation of x-ray to the x-ray source 101.

The drive unit 103 includes a top plate moving mechanism 131, a C-shapedsupport arm 132 a and a C-arm/top plate mechanism controller 133 forcontrolling movements of both mechanisms 131 and 132. The top platemoving mechanism 131 moves the top plate 131 a for supporting an objectP along a body axis direction, a width direction of the top plate and upand down. The C-arm rotation-moving mechanism 132 performs rotationmovements of C-shaped support arm 132 a around an object P. C-shapedsupport arm 132 a supports the x-ray source 101 and the penetrated x-raydetecting unit 102. The C-arm/top plate mechanism controller 133controls each operations of the respective movements of the top platemoving mechanism 131 and movements or rotations of the C-armrotation-moving mechanism 132 based on control signals supplied from thesystem controller 110 so as to position an imaging object, such as bloodvessel, and x-ray radiation unit at a plurality of different anglepositions in order to perform x-ray radiography at appropriate anglepositions while avoiding obstacles, such as bones, as explained later.

The top plate moving mechanism 131 includes a sensor (not shown), suchas an encoder, for detecting a moved distance of the top plate 131 a.C-arm/top plate mechanism controller 133 controls the top plate movingmechanism 131 based on the detected signals supplied from the moveddistance sensor. The top plate moving mechanism 131 moves the top plate131 a so as to set it at desired positions based on the control signalsfrom the C-arm/top plate mechanism controller 133. Similarly, C-armrotating-moving mechanism 132 includes a rotating angle sensor (notshown), such as an encoder for detecting rotated angles of the C-shapedsupport arm 132 a. C-arm rotation-moving mechanism 132 rotates theC-shaped support arm 132 a under control from the C-arm/top platemechanism controller 133 based on the angle position of the detectedliving body. By the rotations of the C-shaped support arm 132 a, a pairof the x-ray interventional guided imaging system 100 and the x-raydetecting units 102 are positioned at desired radiography anglepositions and distances based on the controlling signals from theC-arm/top plate mechanism controller 133. When the C-shaped support arm132 a is positioned at a desired position, the C-arm rotation-movingmechanism 132 supplies an angle positioned signal of the positionedradiography angle position to the system controller 110.

The x-ray interventional guided imaging system 100 includes an x-raytube 111 for generating x-rays and an x-ray collimator 112. The x-raycollimator 112 restricts an x-ray irradiation area over an object P fromthe x-ray tube 111. A high voltage generating unit 104 supplies a highvoltage to the x-ray tube 111 in x-ray interventional guided imagingsystem 100. The high voltage generating unit 104 includes a high voltagegenerator 141 and an x-ray controller 142 that controls the high voltagegenerator 141 based on control signals supplied from a system controller110.

X-ray detecting unit 102 includes an image intensifier (I.I.) 120 thatdetects x-rays penetrated through an object P and converts thepenetrated x-rays to light signals, a television (TV) camera 122 forconverting the light signals to electric signals and ananalog-to-digital (A/D) converter (not shown) for converting electricsignals from the TV camera 122 to digital signals. X-ray projection dataconverted to digital signals are thereby supplied to a pixel dataprocessing unit 106. I.I. 120 includes a moving mechanism so as to moveits positions forward and backward so as to face the x-rayinterventional guided imaging system 100. Thus, a distance between thex-ray generating source and the x-ray detector (Source to DetectorDistance: SDD) can be adjusted. Further adjustment can be made to thex-ray incidence view size (Field Of View: FOV) by controlling electricvoltages of an x-ray receiving surface electrode of I.I. 120. In thisembodiment, an I.I. is illustrated as a detector. It is, of course,possible to apply a plate surface type detector (Flat Panel Detector:FPD) in order to convert the detected x-rays to electric charges.

Pixel data processing unit 106 generates pixel data from x-rayprojection data that are generated in the x-ray detecting unit 102. Thegenerated pixel data are stored. Thus, the pixel data processing unit106 includes a pixel data generating unit 161 for generating pixel dataand a pixel data memory unit 162 for storing the generated pixel data.Pixel data generating unit 161 generates pixel data in accordance withx-ray radiography data being supplied from the detector 102 and managingvital data of an object P being supplied from a vital data measuringunit 105 through a system controller 110. The vital data measuring unit105 includes a sensor 151 for detecting and measuring variousphysiological statistics of object P, and a signal processing unit 152for converting and processing the measured various physiologicalstatistics in vital data for pixel data generating unit 161. Thegenerated pixel data are stored in a pixel data memory unit 162.

Pixel data that are collected, which include at least at two differentangle positions and stored in the pixel data memory unit 162, aresupplied to a three dimensional image generating unit 166. The threedimensional image generating unit 166 generates three dimensional imagedata from pixel data collected at least at two different positions. Togenerate three dimensional image data, vital data are supplied from avital data measuring unit 105 through the system controller 110 in orderto select pixel data of the same phase of at least two differentpositions. The generated three dimensional data is displayed on adisplay unit 108.

The interventional guided imaging system 100 further includes a pixeldata searching unit 107 for searching a plurality of pixel data storedin the pixel data memory unit 162. Pixel data searching unit 107searches for a plurality of pixel data of the same phase among aplurality of pixel data stored in the pixel data memory unit 162, and areduced pixel data generating unit 172 generates reduced pixel data fromthe searched pixel data of the same phase. A plurality of sets of thegenerated reduced pixel data of the same phase are displayed on a screenof a display unit 108. Thus, either a plurality of sets of pixel data ofthe same phase that are generated in the three dimensional image datagenerating unit 166 or a plurality of sets of reduced pixel data reducedof the same phase that are generated in the pixel data generating unit172 are displayed on the display unit 108.

The interventional guided imaging system 100 further includes anoperation unit 109 for inputting various setting conditions or commands.The operation unit 109 designates various inputs of radiographyconditions, such as, input operations of an object ID, such as a name ofan object P and respective times of radiography, image magnifying ratio,designation of setting positions of the C-arm, designation of settingposition of radiography angles, designation of setting position of thetop plate, and a selection of static images or successive images thatare collected at a time series during a certain time period(hereinafter, simply referred to as “a motion image”), and variousconditions for displaying. In order to select a motion image, theoperation unit 109 further inputs additional radiography conditions of aframe rate indicating a frame number in a unit time and an irradiationtime. The system controller 110 totally controls the overall operationof the apparatus in accordance with the inputted conditions from theoperation unit 109.

FIG. 2 illustrates an image system 200 having an image sensor inmountable positions relative to the x-ray source, according to oneembodiment of the present invention. Such configurations may includesingle or multiple image arrays. C-arm imaging system 210 includes aC-shaped support arm which contains both the I-I and sensor 215 at thetop to communicate with an external position controller (not shown).G-Image system 220 includes a support arm similar in function to theC-shaped support arm of C-Image system 210, however, having a planarvertical surface extending between the I-I with sensor 215 and the x-raysource 216. Such configurations may include either flat plane oradjustable plane mechanisms.

FIG. 3 illustrates a ceiling mountable guided imaging system 300, havinga swivel mount sensor 315 and adjacent multiple monitors 325, accordingto one embodiment of the present invention. In this configuration, thesensing of rotational directions on the user-worn wireless transmitter(not shown) sends communication signals to the swivel mount sensor 315,which may implement rotational or linear movement of the multiplemonitors 325.

FIG. 4 illustrates a table-mounted guided imaging system 400, accordingto one embodiment of the present invention, in which the I-I and sensor415 mounts on the side of the examination/observation table 430. The I-Iand sensor 415 points horizontally across the plane of the table 430toward an x-ray source (not shown).

FIG. 5 is a drawing of a head-mountable wireless controller 500. In thisconfiguration, the control device includes an elastic membrane 505 on afirst side opposite a second side which may contain one or more sensors515. The sensors 515 also send communications to the system controller110 for controlling movements of both the top plate moving mechanism131, and the C-arm rotation-moving mechanism 132, by the C-arm/top platemechanism controller 133, including, for example, implementing rotatingmovements of C-shaped support arm 132 a and position movements of topplate 131 a, as described above. The sensors 515 also sendcommunications to the system controller 110 for controlling the multiplemonitors 325 as described above. Motion of the head may direct motion ofthe imaging system 500 and monitors 325 either independently or onconcert with one another.

It is within the scope of this invention that a control mechanism suchas a switch or button on the wireless embodiments that will allow theuser to differentiate commands from the position or movement of the userto one or more controlled systems (e.g., remotely controlling the C-armimaging system 210 or the multiple monitors 325 or individual I-I's in amulti-plane system). The sensors 515 may comprise the ability to senseposition or movement in one or more of the following linear directions:horizontal (X), vertical (Y) and depth (Z) directions. In one embodimentof the present invention the wireless controller 500 may comprisesensors 515 capable of sensing movement in one or more of the followingrotational directions: pitch (rotation about the vertical axis), roll(rotation about the horizontal axis), and yaw (rotation about the depthaxis). One example of this type of wireless control response is that ofthe Nintendo Wii® controller used with the Nintendo Wii® game system.This design concept utilizes accelerometers that allow the wirelesscontroller to detect the motion of the controller. The motion iscommunicated to the I-I which is translated into motion of the imagingsystem 210 and may be used to position the I-I or monitors 325 or both.There are also tiny silicon springs inside the controller that detectmotions, positions, and tilt. The wireless communication between thehandheld unit and console is infrared. Although infrared is common inindustry as a wireless communication protocol, there are several otherswhich are contemplated to be used in the present invention. Someexamples include Bluetooth, wireless fidelity radio frequency (alsoknown as WiFi) which follows IEEE standard 802.11a/b/g/n and cellularfrequencies. Some RF wireless modules available on the market includeLinx Technologies LT, LR and LC Series transceivers. These provideeither uni-directional or bi-directional communication with serial dataand command signals.

In a further embodiment of the present invention, the sensors 515 may becapable of sensing speed of movement of the user. This sensed speed maythen be translated into the speed at which the guided imaging system 100responds to movement by the user.

FIG. 6 is a drawing of a head-mountable wireless controller 600,according to one embodiment of the present invention. In thisconfiguration, the control device includes sensors 615 which may beattachable to the eyewear of the user. Eyewear may include eyeglasses,safety glasses/goggles or other eyewear commonly utilized whileoperating an imaging system.

FIG. 7 is a drawing of a head-mountable wireless controller 700,according to one embodiment of the present invention. In thisconfiguration, the control device includes eyewear 705 comprisingsensors 715 mounted or molded into the frame of the eyewear 705.Similarly, as contemplated in the example of FIG. 6, this embodiment canbe utilized in a variety of types of eyewear.

FIG. 8 illustrates a glove-mounted wireless controller 800, according toone embodiment of the present invention. In this embodiment, either thedorsal side 804 or the palm side 806 of the glove-mounted controller 800comprise sensors 815. It is contemplated that even both sides of theglove-mounted wireless controller 800 may comprise sensors 815 capableof linear or rotational direction as well as speed sense.

FIG. 9 is a drawing of a voice activated system 900, according to oneembodiment of the present invention. In this configuration, a microphone901 is coupled to an audio mixer/preamplifier 902. Embodiments of themicrophone 901 may include a wired microphone, a wireless microphone, ora shotgun microphone which allows the user to be move about withoutbeing tethered to by wires or cables, or without wearing a wirelessmicrophone system. The voice activated system 900 further includes anaudio amplifier 903 coupled to the audio mixer/preamplifier 902. Audiomixer/preamplifier 902 and audio amplifier 903 are coupled to an audioprocessing unit 904. Audio processing unit 904 may be communicativelycoupled to the I-I or monitors 325 or both. The means of communicationbetween the audio processing unit 904 and the I-I or monitors 325 orboth may include Bluetooth, wireless fidelity radio frequency (alsoknown as WiFi) which follows IEEE standard 802.11a/b/g/n and cellularfrequencies. Examples of the audio processing unit 904 may include acomputer comprising a memory and a processor. Audio processing unit 904may operate under the control of voice recognition software. The voicecontrol system recognizes a series of key words which corresponds to acommand or series of commands that may otherwise be initiated throughmanual commands or controls. After recognition, the voice control systemmay repeat the recognized command or series of commands, and execute thecommand. The command or series of commands are communicated to the I-Iwhich is translated into motion of the imaging system 210 and may beused to position the I-I or monitors 325 or both. Operations controlledby the voice activated control system may include directing the guidedimaging system, (I-I), in one or more of the following lineardirections: horizontal (X), vertical (Y) and depth (Z) directions,directing the I-I in one or more of the following rotational directions:pitch (rotation about the vertical axis), roll (rotation about thehorizontal axis), and yaw (rotation about the depth axis), and adjustingthe speed at which the I-I moves at one of the linear directions or oneor more of the rotational directions. Operations controlled by the voiceactivated control system may also include directing the imaging monitorsindependently or in concert with the movement of the I-I. Operationscontrolled by voice activated control system may also includedesignation of various inputs of radiography conditions, such as, inputoperations of an object ID, such as a name of an object and respectivetimes of radiography, image magnifying ratio, designation of settingpositions of the C-arm, designation of setting position of radiographyangles, designation of setting position of the top plate, and aselection of static images or successive images that are collected at atime series during a certain time period, and various conditions fordisplaying.

There are other variations or variants of the described methods of thesubject invention which will become obvious to those skilled in the art.It will be understood that this disclosure, in many respects is onlyillustrative. Although various aspects of the present invention havebeen described with respect to various embodiments thereof, it will beunderstood that the invention is entitled to protection within the fullscope of the appended claims.

What is claimed is:
 1. A device for remote motion control of an imaging system, comprising: a power supply; a memory; an x-ray source; an image intensifier (I-I); a wireless transceiver coupled to said image intensifier; a wireless input device further comprising a wireless transmitter communicatively coupled to said wireless transceiver and said wireless input device that reads a force sensor and a position sensor.
 2. The device for remote motion control of an imaging system, of claim 1 wherein said force sensor and said position sensor are capable of sensing at least one or more of the group comprising vertical, horizontal and depth.
 3. The device for remote motion control of an imaging system, of claim 2 wherein said force sensor and said position sensor are sensitive to speed of motion.
 4. The device for remote motion control of an imaging system, of claim 2 wherein said force sensor and said position sensor are sensitive to speed of motion comprising a roll, a pitch and a yaw.
 5. The device for remote motion control of an imaging system, of claim 1 wherein said force sensor and said position sensor are capable of sensing at least a roll, a pitch and a yaw of said image intensifier (I-I).
 6. The device for remote motion control of an imaging system, of claim 1, further comprising an attachable mounting device, said wireless input device coupled to the attachable mounting device, wherein said attachable mounting device is capable of being attached to a user.
 7. The device for remote motion control of an imaging system, of claim 1, wherein said wireless transceiver is additionally coupled to one or more monitors.
 8. An medical imaging system comprising: an x-ray imaging source, a power supply, a memory, an image intensifier (I-I), a wireless transceiver, a wireless transceiver interface, a wireless input device comprising a wireless transmitter communicatively coupled to said wireless transceiver interface; said wireless input device includes force and position sensors; and said force and position sensors further capable of sensing speed of motion.
 9. The medical imaging system of claim 8 wherein said force and position sensors are capable of sensing one or more of the group comprising vertical position, horizontal position and depth position.
 10. The wireless input device of claim 8 wherein said force and position sensors are capable of sensing one or more of the group comprising rotational roll, rotational pitch and rotational yaw.
 11. The wireless input device of claim 8, further comprising an attachable mounting device, said wireless input device coupled to the attachable mounting device, wherein said attachable mounting device is capable of being attached to a user.
 12. A method for wirelessly controlling a medical x-ray imaging system comprising the steps of: transmitting at least one control parameter from a wireless input device wherein said control parameter comprises includes force, position and speed; receiving said control parameter from said wireless input device; translating said control parameter into a position of an image intensifier of said medical x-ray imaging system; and moving said image intensifier based on said translating.
 13. The system of claim 12 wherein said force and position sensors are capable of sensing one or more of the group comprising vertical position, horizontal position and depth position.
 14. The system of claim 12 wherein said force and position sensors are capable of sensing one or more of the group comprising roll, pitch and yaw.
 15. The system of claim 12, further comprising an attachable mounting device, said wireless input device coupled to the attachable mounting device, wherein said attachable mounting device is capable of being attached to a user.
 16. A device for remote motion control of an imaging system, comprising: a power supply; a memory; an x-ray source; an image intensifier (I-I); a wireless transceiver coupled to said image intensifier; a wireless input device further comprising a wireless transmitter communicatively coupled to said wireless transceiver and said wireless input device that reads a force sensor and a position sensor; whereby said force sensor and said position sensor are capable of sensing at least one or more of the group comprising x-coordinate, y-coordinate and z-coordinate. 